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Adding BulletUtil.h with tests.

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This commit is contained in:
Andrew Meadows 2014-11-04 16:43:50 -08:00
parent 57e972d876
commit 2734afcf9a
4 changed files with 170 additions and 0 deletions
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40
libraries/physics/src/BulletUtil.h Normal file
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//
// BulletUtil.h
// libraries/physcis/src
//
// Created by Andrew Meadows 2014.11.02
// Copyright 2014 High Fidelity, Inc.
//
// Distributed under the Apache License, Version 2.0.
// See the accompanying file LICENSE or http://www.apache.org/licenses/LICENSE-2.0.html
//
#ifndef hifi_BulletUtil_h
#define hifi_BulletUtil_h
#include <btBulletDynamicsCommon.h>
#include <glm/glm.hpp>
#include <glm/gtc/quaternion.hpp>
inline void bulletToGLM(const btVector3& b, glm::vec3& g) {
g = glm::vec3(b.getX(), b.getY(), b.getZ());
}
inline void bulletToGLM(const btQuaternion& b, glm::quat& g) {
g.x = b.getX();
g.y = b.getY();
g.z = b.getZ();
g.w = b.getW();
}
inline void glmToBullet(const glm::vec3& g, btVector3& b) {
b.setX(g.x);
b.setY(g.y);
b.setZ(g.z);
}
inline void glmToBullet(const glm::quat& g, btQuaternion& b) {
b = btQuaternion(g.x, g.y, g.z, g.w);
}
#endif // hifi_BulletUtil_h

107
tests/physics/src/BulletUtilTests.cpp Normal file
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//
// BulletUtilTests.cpp
// tests/physics/src
//
// Created by Andrew Meadows on 2014.11.02
// Copyright 2014 High Fidelity, Inc.
//
// Distributed under the Apache License, Version 2.0.
// See the accompanying file LICENSE or http://www.apache.org/licenses/LICENSE-2.0.html
//
#include <iostream>
#include <BulletUtil.h>
#include <SharedUtil.h>
#include "BulletUtilTests.h"
void BulletUtilTests::fromBulletToGLM() {
btVector3 bV(1.23f, 4.56f, 7.89f);
glm::vec3 gV;
bulletToGLM(bV, gV);
if (gV.x != bV.getX()) {
std::cout << __FILE__ << ":" << __LINE__
<< " ERROR: x mismatch bullet.x = " << bV.getX() << " != glm.x = " << gV.x << std::endl;
}
if (gV.y != bV.getY()) {
std::cout << __FILE__ << ":" << __LINE__
<< " ERROR: x mismatch bullet.y = " << bV.getY() << " != glm.y = " << gV.y << std::endl;
}
if (gV.z != bV.getZ()) {
std::cout << __FILE__ << ":" << __LINE__
<< " ERROR: x mismatch bullet.z = " << bV.getZ() << " != glm.z = " << gV.z << std::endl;
}
float angle = 0.317f * PI;
btVector3 axis(1.23f, 2.34f, 3.45f);
axis.normalize();
btQuaternion bQ(axis, angle);
glm::quat gQ;
bulletToGLM(bQ, gQ);
if (gQ.x != bQ.getX()) {
std::cout << __FILE__ << ":" << __LINE__
<< " ERROR: x mismatch bullet.x = " << bQ.getX() << " != glm.x = " << gQ.x << std::endl;
}
if (gQ.y != bQ.getY()) {
std::cout << __FILE__ << ":" << __LINE__
<< " ERROR: x mismatch bullet.y = " << bQ.getY() << " != glm.y = " << gQ.y << std::endl;
}
if (gQ.z != bQ.getZ()) {
std::cout << __FILE__ << ":" << __LINE__
<< " ERROR: x mismatch bullet.z = " << bQ.getZ() << " != glm.z = " << gQ.z << std::endl;
}
if (gQ.w != bQ.getW()) {
std::cout << __FILE__ << ":" << __LINE__
<< " ERROR: x mismatch bullet.w = " << bQ.getW() << " != glm.w = " << gQ.w << std::endl;
}
}
void BulletUtilTests::fromGLMToBullet() {
glm::vec3 gV(1.23f, 4.56f, 7.89f);
btVector3 bV;
glmToBullet(gV, bV);
if (gV.x != bV.getX()) {
std::cout << __FILE__ << ":" << __LINE__
<< " ERROR: x mismatch glm.x = " << gV.x << " != bullet.x = " << bV.getX() << std::endl;
}
if (gV.y != bV.getY()) {
std::cout << __FILE__ << ":" << __LINE__
<< " ERROR: x mismatch glm.y = " << gV.y << " != bullet.y = " << bV.getY() << std::endl;
}
if (gV.z != bV.getZ()) {
std::cout << __FILE__ << ":" << __LINE__
<< " ERROR: x mismatch glm.z = " << gV.z << " != bullet.z = " << bV.getZ() << std::endl;
}
float angle = 0.317f * PI;
btVector3 axis(1.23f, 2.34f, 3.45f);
axis.normalize();
btQuaternion bQ(axis, angle);
glm::quat gQ;
bulletToGLM(bQ, gQ);
if (gQ.x != bQ.getX()) {
std::cout << __FILE__ << ":" << __LINE__
<< " ERROR: x mismatch glm.x = " << gQ.x << " != bullet.x = " << bQ.getX() << std::endl;
}
if (gQ.y != bQ.getY()) {
std::cout << __FILE__ << ":" << __LINE__
<< " ERROR: x mismatch glm.y = " << gQ.y << " != bullet.y = " << bQ.getY() << std::endl;
}
if (gQ.z != bQ.getZ()) {
std::cout << __FILE__ << ":" << __LINE__
<< " ERROR: x mismatch glm.z = " << gQ.z << " != bullet.z = " << bQ.getZ() << std::endl;
}
if (gQ.w != bQ.getW()) {
std::cout << __FILE__ << ":" << __LINE__
<< " ERROR: x mismatch glm.w = " << gQ.w << " != bullet.w = " << bQ.getW() << std::endl;
}
}
void BulletUtilTests::runAllTests() {
fromBulletToGLM();
fromGLMToBullet();
}

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tests/physics/src/BulletUtilTests.h Normal file
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//
// BulletUtilTests.h
// tests/physics/src
//
// Created by Andrew Meadows on 2014.11.02
// Copyright 2014 High Fidelity, Inc.
//
// Distributed under the Apache License, Version 2.0.
// See the accompanying file LICENSE or http://www.apache.org/licenses/LICENSE-2.0.html
//
#ifndef hifi_BulletUtilTests_h
#define hifi_BulletUtilTests_h
namespace BulletUtilTests {
void fromBulletToGLM();
void fromGLMToBullet();
void runAllTests();
}
#endif // hifi_BulletUtilTests_h

2
tests/physics/src/main.cpp
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//#include "VerletShapeTests.h"
#include "ShapeInfoTests.h"
#include "ShapeManagerTests.h"
#include "BulletUtilTests.h"
int main(int argc, char** argv) {
//ShapeColliderTests::runAllTests();
//VerletShapeTests::runAllTests();
ShapeInfoTests::runAllTests();
ShapeManagerTests::runAllTests();
BulletUtilTests::runAllTests();
return 0;
}